private byte[] ProcessBallJoint(RigidBodyJoint ballJoint)
{
try
{
List <byte> ballJointBytes = new List <byte>();
//Adds ID to signify that it's a rotational joint
ushort ID = 4;
byte[] ballJointID = BitConverter.GetBytes(ID);
ballJointBytes.AddRange(ballJointID);
foreach (AssemblyJoint joint in ballJoint.Joints)
{
//Adds the ID of the parent STL to the output array
STLData parentSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceOne.Name), out parentSTL);
byte[] parentIDBytes = BitConverter.GetBytes((uint)(parentSTL.getID()));
ballJointBytes.AddRange(parentIDBytes);
//Adds the ID of the child STL to the output array
STLData childSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceTwo.Name), out childSTL);
byte[] childIDBytes = BitConverter.GetBytes((uint)(childSTL.getID()));
ballJointBytes.AddRange(childIDBytes);
//Adds the vector parallel to the movement onto the array of bytes
ballJoint.GetJointData(out object GeometryOne, out object GeometryTwo, out NameValueMap nameMap);
Circle vectorCircle = (Circle)GeometryTwo;
byte[] vectorJointData = new byte[12];
BitConverter.GetBytes((float)vectorCircle.Center.X).CopyTo(vectorJointData, 0);
BitConverter.GetBytes((float)vectorCircle.Center.Y).CopyTo(vectorJointData, 4);
BitConverter.GetBytes((float)vectorCircle.Center.Z).CopyTo(vectorJointData, 8);
ballJointBytes.AddRange(vectorJointData);
//Adds the point of connection relative to the parent part
byte[] transJointData = new byte[12];
AssemblyJointDefinition jointData = joint.Definition;
BitConverter.GetBytes((float)jointData.OriginTwo.Point.X).CopyTo(transJointData, 0);
BitConverter.GetBytes((float)jointData.OriginTwo.Point.Y).CopyTo(transJointData, 4);
BitConverter.GetBytes((float)jointData.OriginTwo.Point.Z).CopyTo(transJointData, 8);
ballJointBytes.AddRange(transJointData);
//Adds the degrees of freedom
byte[] freedomData = new byte[8];
ModelParameter positionData = (ModelParameter)jointData.AngularPosition;
double relataivePosition = positionData._Value;
if (jointData.HasLinearPositionEndLimit)
{
positionData = (ModelParameter)jointData.AngularPositionEndLimit;
BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))).CopyTo(freedomData, 0);
}
positionData = (ModelParameter)jointData.AngularPositionStartLimit;
BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))).CopyTo(freedomData, 4);
ballJointBytes.AddRange(freedomData);
}
return(ballJointBytes.ToArray());
}
catch (Exception e)
{
//catches problems
MessageBox.Show(e.Message + "\n\n\n" + e.StackTrace);
return(null);
}
}
private byte[] ProcessLinearJoint(RigidBodyJoint linearJoint, JointData jointDataObject)
{
try {
ArrayList linearJointBytes = new ArrayList();
//Adds ID to signify that it's a linear joint
ushort ID = 1;
byte[] linearJointID = BitConverter.GetBytes(ID);
linearJointBytes.Add(linearJointID);
foreach (AssemblyJoint joint in linearJoint.Joints)
{
//Adds the ID of the parent STL to the output array
STLData parentSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceOne.Name), out parentSTL);
byte[] parentIDBytes = BitConverter.GetBytes((uint)(parentSTL.getID()));
linearJointBytes.Add(parentIDBytes);
//Adds the ID of the child STL to the output array
STLData childSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceTwo.Name), out childSTL);
byte[] childIDBytes = BitConverter.GetBytes((uint)(childSTL.getID()));
linearJointBytes.Add(childIDBytes);
//Adds the vector parallel to the movement onto the array of bytes
object GeometryOne, GeometryTwo;
NameValueMap nameMap;
linearJoint.GetJointData(out GeometryOne, out GeometryTwo, out nameMap);
Line vectorLine = (Line)GeometryTwo;
byte[] vectorJointData = new byte[12];
BitConverter.GetBytes(vectorLine.RootPoint.X).CopyTo(vectorJointData, 0);
BitConverter.GetBytes(vectorLine.RootPoint.Y).CopyTo(vectorJointData, 4);
BitConverter.GetBytes(vectorLine.RootPoint.Z).CopyTo(vectorJointData, 8);
linearJointBytes.Add(vectorJointData);
//Adds the point of connection relative to the parent part
byte[] transJointData = new byte[12];
AssemblyJointDefinition jointData = joint.Definition;
BitConverter.GetBytes(jointData.OriginTwo.Point.X).CopyTo(transJointData, 0);
BitConverter.GetBytes(jointData.OriginTwo.Point.Y).CopyTo(transJointData, 4);
BitConverter.GetBytes(jointData.OriginTwo.Point.Z).CopyTo(transJointData, 8);
linearJointBytes.Add(transJointData);
//Adds the degrees of freedom
byte[] freedomData = new byte[8];
ModelParameter positionData = (ModelParameter)jointData.LinearPosition;
double relataivePosition = positionData._Value;
positionData = (ModelParameter)jointData.LinearPositionEndLimit;
BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))).CopyTo(freedomData, 0);
positionData = (ModelParameter)jointData.LinearPositionStartLimit;
BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))).CopyTo(freedomData, 4);
linearJointBytes.Add(freedomData);
linearJointBytes.Add(processJointAttributes(jointDataObject));
}
object[] tempArray = linearJointBytes.ToArray();
byte[] returnedArray = new byte[tempArray.Length];
tempArray.CopyTo(returnedArray, 0);
return(returnedArray);
}
catch (Exception e) {
//catches problems
MessageBox.Show(e.Message + "\n\n\n" + e.StackTrace);
return(null);
}
}
private byte[] ProcessCylindricalJoint(RigidBodyJoint cylindricalJoint)
{
try
{
List <byte> cylindricalJointBytes = new List <byte>();
//Adds ID to signify that it's a cylindrical joint
cylindricalJointBytes.AddRange(BitConverter.GetBytes((ushort)2));
foreach (AssemblyJoint joint in cylindricalJoint.Joints)
{
//Adds the ID of the parent STL to the output array
STLData parentSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceOne.Name), out parentSTL);
byte[] parentIDBytes = BitConverter.GetBytes((uint)(parentSTL.getID()));
cylindricalJointBytes.AddRange(parentIDBytes);
//Adds the ID of the child STL to the output array
STLData childSTL = new STLData();
STLDictionary.TryGetValue(NameFilter(joint.OccurrenceTwo.Name), out childSTL);
byte[] childIDBytes = BitConverter.GetBytes((uint)(childSTL.getID()));
cylindricalJointBytes.AddRange(childIDBytes);
//Adds the vector normal to the plane of rotation
cylindricalJoint.GetJointData(out object GeometryOne, out object GeometryTwo, out NameValueMap nameMap);
/* Circle vectorCircle = (Circle)GeometryTwo;
* byte[] vectorJointData = new byte[12];
* BitConverter.GetBytes((float)vectorCircle.Center.X).CopyTo(vectorJointData, 0);
* BitConverter.GetBytes((float)vectorCircle.Center.Y).CopyTo(vectorJointData, 4);
* BitConverter.GetBytes((float)vectorCircle.Center.Z).CopyTo(vectorJointData, 8);
* cylindricalJointBytes.AddRange(vectorJointData);
*///Adds the vector parallel to the movement
MessageBox.Show(GeometryTwo.GetType().ToString());
//Adds the vector parallel to movement
Line vectorLine = (Line)GeometryTwo;
byte[] vectorJointData = new byte[12];
BitConverter.GetBytes((float)vectorLine.RootPoint.X).CopyTo(vectorJointData, 0);
BitConverter.GetBytes((float)vectorLine.RootPoint.Y).CopyTo(vectorJointData, 4);
BitConverter.GetBytes((float)vectorLine.RootPoint.Z).CopyTo(vectorJointData, 8);
cylindricalJointBytes.AddRange(vectorJointData);
//Adds the point of connection relative to the parent part
byte[] transJointData = new byte[12];
AssemblyJointDefinition jointData = joint.Definition;
BitConverter.GetBytes((float)jointData.OriginTwo.Point.X).CopyTo(transJointData, 0);
BitConverter.GetBytes((float)jointData.OriginTwo.Point.Y).CopyTo(transJointData, 4);
BitConverter.GetBytes((float)jointData.OriginTwo.Point.Z).CopyTo(transJointData, 8);
cylindricalJointBytes.AddRange(transJointData);
//Adds the degrees of freedom
List <byte> freedomData = new List <byte>();
ModelParameter positionData = (ModelParameter)jointData.AngularPosition;
double relataivePosition = positionData._Value;
if (jointData.HasLinearPositionEndLimit)
{
positionData = (ModelParameter)jointData.LinearPositionEndLimit;
freedomData.AddRange(BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))));
}
if (jointData.HasLinearPositionStartLimit)
{
positionData = (ModelParameter)jointData.LinearPositionStartLimit;
freedomData.AddRange(BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))));
}
if (jointData.HasAngularPositionLimits)
{
positionData = (ModelParameter)jointData.AngularPositionEndLimit;
freedomData.AddRange(BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))));
positionData = (ModelParameter)jointData.AngularPositionStartLimit;
freedomData.AddRange(BitConverter.GetBytes((float)(Math.Abs(relataivePosition) - Math.Abs(positionData._Value))));
}
if (freedomData != null)
{
cylindricalJointBytes.AddRange(freedomData);
}
}
return(cylindricalJointBytes.ToArray());
}
catch (Exception e)
{
//catches problems
MessageBox.Show(e.Message + "\n\n\n" + e.StackTrace);
return(null);
}
}
